Fast-Lio2 Performs Better

[celikemir]

Hi,

I have several bag files recorded at different altitudes with a UAV, such as 50m, 100m, etc. The LiDAR is positioned at nadir, pointing downward. There is significant odometry degradation, particularly in some areas. I also tested the same bag files with FAST-LIO2, and its performance was better and closer to the ground truth. My question is: do you have any suggestions for adjusting parameters for outdoor use and fixing these degradation points? (I've already adjusted filter_size_surf, etc.) The odometry completely diverges in the opposite direction and fails to recover.

[sharknow]

Hi,

I have several bag files recorded at different altitudes with a UAV, such as 50m, 100m, etc. The LiDAR is positioned at nadir, pointing downward. There is significant odometry degradation, particularly in some areas. I also tested the same bag files with FAST-LIO2, and its performance was better and closer to the ground truth. My question is: do you have any suggestions for adjusting parameters for outdoor use and fixing these degradation points? (I've already adjusted filter_size_surf, etc.) The odometry completely diverges in the opposite direction and fails to recover.

Can you provide a picture with the results? Thank you!

[celikemir]

Here are the results below, where you can easily distinguish which one diverges from the ground truth.
Ground truth, Point Lio, Fast-LIO respectively